/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
// #include "bsp_usart.h"
// #include "usart.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
osThreadId defaultTaskHandle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
// void StartTestTask(void const * argument);
/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void const * argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];

void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
  *ppxIdleTaskStackBuffer = &xIdleStack[0];
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  /* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* definition and creation of defaultTask */
  osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);
  defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  
  
  // osThreadDef(testTask, StartTestTask, osPriorityNormal, 0, 128);
  // testTaskHandle = osThreadCreate(osThread(testTask), NULL);
  /* USER CODE END RTOS_THREADS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
//  static USARTInstance *test;
 
//  uint8_t data[8] = {0x00,0x01,0x02,0x03,0x04,0x05,0x06,0x07};
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const * argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  // USART_Init_Config_s cfg = {
  //   .module_callback = NULL,
  //   .recv_buff_size = 18,
  //   .usart_handle = &huart6
  // };
  // test = USARTRegister(&cfg);
  /* Infinite loop */
  for(;;)
  {
    // USARTSend(test, data, 8, USART_TRANSFER_DMA);
    osDelay(1);
  }
  /* USER CODE END StartDefaultTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
// int8_t MotorType = 0x03;
// int8_t MotorEncoderPolarity = 0;
// int8_t p1[4] = {50, 50, 50, 50};
// uint8_t data[20];
// void StartTestTask(void const * argument)
// {
//   /* USER CODE BEGIN StartDefaultTask */
//   HAL_I2C_Mem_Write_DMA(&hi2c2, 0x34, 0x14, 1, &MotorType, 1);
//   HAL_I2C_Mem_Write_DMA(&hi2c2, 0x34, 0x15, 1, &MotorEncoderPolarity, 1);
//   /* Infinite loop */
//   for(;;)
//   {
//     HAL_I2C_Mem_Write_DMA(&hi2c2, 0x34, 0x00, 2, data, 2);
//     HAL_I2C_Mem_Write_DMA(&hi2c2, 0x34, 51, 4, p1, 4);
//     osDelay(1);
//   }
//   /* USER CODE END StartDefaultTask */
// }
/* USER CODE END Application */
